To make the dough, start by warming the milk to 105-110 degrees Fahrenheit. Add the milk to the bowl of a stand mixer fitted with a dough hook attachment. Then add 1 tablespoon of sugar, and the active dry yeast. Then mix together and set for 5 minutes to allow the yeast to bloom. It should start to form a thick bubbly layer on top and this lets you know the yeast is active.
Now add in the pumpkin puree, the rest of the sugar, melted unsalted butter, and 1 cup of flour. Mix together until combined. Add in eggs one at a time and mix until combined on low speed. Add the remaining 3 cups of flour in slowly while the mixer remains on low speed and allow the dough to form. Once all of the flour has been added in, allow the mixer to knead the dough on low speed for 3 minutes. Dough should be soft and not tacky. If the dough is too wet, add in 1 tablespoon of flour at a time up to an additional ¼ cup of flour if needed. Once the dough forms a smooth non tacky ball without sticking to the sides of the bowl, the dough is done.
Form the dough ball into a smooth ball and place back in the bowl. Cover the bowl with plastic wrap or towel and place in a warm place to rise for one hour.
While the dough is rising, make the pumpkin cinnamon sugar butter filling. With an electric mixer fitted with a paddle attachment, cream together the pumpkin puree, room temperature butter, cinnamon, and brown sugar for a few minutes until a whipped butter paste like texture forms.
Once the dough doubles in size, it is ready to roll out.
On a floured surface, roll the dough in a 12 x 18 inch rectangle. Spread the pumpkin cinnamon sugar butter filling evenly on the dough rectangle. Then starting with the long side of the rectangle, roll up the dough into a tight log.
Slice the log into 12 equal cinnamon rolls. Place the rolls into a 9x13 baking dish that has been sprayed with nonstick spray or buttered.
Cover the rolls in the pan with plastic wrap or a towel and let rise for an additional 30 minutes. The rolls will double in size.
While the rolls are rising, preheat the oven to 350 degrees Fahrenheit.
When the rolls are doubled in size and ready to bake, pour the ½ cup of heavy whipping cream over the rolls. Don't worry about being too precise here, just pour the cream all over the rolls.
Bake for 22-25 minutes or until fully baked through and golden brown on top.
While the rolls are baking, make the cream cheese icing. With an electric mixer fitted with a paddle attachment, cream together the room temperature butter and cream cheese until light and fluffy. Beat in the powdered sugar until an icing consistency forms. Then mix in the vanilla extract. Once frosting is complete set aside until cinnamon rolls are baked.
When the cinnamon rolls are ready to be iced, ice them warm and the icing will spread really smooth and melt evenly over the rolls. Enjoy!